Script ardupilot using LUA

Table of Content

Script ardupilot using LUA#

ArduPilot has introduced support for Lua scripting. Scripting provides a safe, “sandboxed” environment for new behaviors to be added to the autopilot without modifying the core flight code. Scripts are stored on the SD card and run in parallel with the flight code more.

To enable scripting set SCR_ENABLE parameter to 1 and upload scripts to SD APM/scripts folder using mavftp

sitl scripts folder

lua script locate in scripts folder in the root / location of run sitl

lua ardupilot full list

Install and config#

Lua#

online interpreter

Config vscode#

copy lua docs from AP_scripting to vscode project root for autocomplete

├── docs.lua
├── params
│   └── lua.param
├── README.md
└── scripts
    └── simple_loop.lua

Ardupilot#


SCR_ENABLE	enable/disable scripts	1: enable
SCR_HEAP_SIZE		usual use default

Demo#

ardupilot lua hello

local number = math.random()

function update() -- periodic function that will be called
    gcs:send_text(0, "hello lua")

    gcs:send_named_float("lua float", number)
    number = number + math.random()

    -- rescheduler the loop
    return update, 1000
end

-- Run immdeiately before rescheduler
return update()

check ardupilot ready state

if ahrs:healthy() then
    gcs:send_text(0, "hello lua")
end